Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances
This paper addresses the challenging issue of trajectory tracking for uncertain quadrotor unmanned aerial vehicles (UAVs), particularly under the constraints of input saturation and external disturbances. It introduces adaptive laws for managing uncertainties in mass and inertia moments without requ...
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MDPI AG
2024-10-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/11/614 |
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| author | Jingyang Kuang Mou Chen |
| author_facet | Jingyang Kuang Mou Chen |
| author_sort | Jingyang Kuang |
| collection | DOAJ |
| description | This paper addresses the challenging issue of trajectory tracking for uncertain quadrotor unmanned aerial vehicles (UAVs), particularly under the constraints of input saturation and external disturbances. It introduces adaptive laws for managing uncertainties in mass and inertia moments without requiring prior knowledge, ensuring effective control even with varying system parameters. To counteract the effects of input saturation, the study incorporates an auxiliary system designed to compensate for these limitations. Additionally, a disturbance observer (DO) is utilized to manage and mitigate the impact of time-varying external disturbances. The proposed control strategy integrates a sliding mode adaptive control approach with an inner–outer loop structure, enhancing robustness and adaptability. Numerical simulations demonstrate the effectiveness of the designed control strategy. |
| format | Article |
| id | doaj-art-71bc3aa38bc74f2ebb4acf92ee789935 |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-71bc3aa38bc74f2ebb4acf92ee7899352025-08-20T02:08:09ZengMDPI AGDrones2504-446X2024-10-0181161410.3390/drones8110614Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and DisturbancesJingyang Kuang0Mou Chen1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics (NUAA), Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics (NUAA), Nanjing 210016, ChinaThis paper addresses the challenging issue of trajectory tracking for uncertain quadrotor unmanned aerial vehicles (UAVs), particularly under the constraints of input saturation and external disturbances. It introduces adaptive laws for managing uncertainties in mass and inertia moments without requiring prior knowledge, ensuring effective control even with varying system parameters. To counteract the effects of input saturation, the study incorporates an auxiliary system designed to compensate for these limitations. Additionally, a disturbance observer (DO) is utilized to manage and mitigate the impact of time-varying external disturbances. The proposed control strategy integrates a sliding mode adaptive control approach with an inner–outer loop structure, enhancing robustness and adaptability. Numerical simulations demonstrate the effectiveness of the designed control strategy.https://www.mdpi.com/2504-446X/8/11/614trajectory tracking controlsliding mode controldisturbance observerinput saturationparametric uncertainties |
| spellingShingle | Jingyang Kuang Mou Chen Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances Drones trajectory tracking control sliding mode control disturbance observer input saturation parametric uncertainties |
| title | Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances |
| title_full | Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances |
| title_fullStr | Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances |
| title_full_unstemmed | Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances |
| title_short | Adaptive Sliding Mode Control for Trajectory Tracking of Quadrotor Unmanned Aerial Vehicles Under Input Saturation and Disturbances |
| title_sort | adaptive sliding mode control for trajectory tracking of quadrotor unmanned aerial vehicles under input saturation and disturbances |
| topic | trajectory tracking control sliding mode control disturbance observer input saturation parametric uncertainties |
| url | https://www.mdpi.com/2504-446X/8/11/614 |
| work_keys_str_mv | AT jingyangkuang adaptiveslidingmodecontrolfortrajectorytrackingofquadrotorunmannedaerialvehiclesunderinputsaturationanddisturbances AT mouchen adaptiveslidingmodecontrolfortrajectorytrackingofquadrotorunmannedaerialvehiclesunderinputsaturationanddisturbances |